Obstacle sensing apparatus for vehicles

• US 5,479,173 A
• Filed: 03/08/1994
• Issued: 12/26/1995
• Est. Priority Date: 03/08/1993
• Status: Expired due to Fees

• Current Assignee: Mazda Motor Corporation
• Original Assignee: Mazda Motor Corporation
• Inventors: Yamamoto, Yasunori, Yoshioka, Tohru, Adachi, Tomohiko, Okuda, Ken-ichi
• Primary Examiner(s): Hellner, Mark
• Application Number:
  US08/207,365
• Time in Patent Office: 658 Days
• Field of Search: 342/70, 342/71, 342/72, 364/424.01, 364/424.02, 364/436
• US Class Current: 342/70
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/93185 Controlling the brakes
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/93271 in the front of the vehicles
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0257 using a radar radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931

Abstract

An obstacle sensing apparatus for vehicles which enables efficient obstacle sensing and improves sensing precision. The apparatus comprises a section for predicting a deduced traveling-passage on which the vehicle will travel, based on a steering angle, a yaw rate and a velocity of the vehicle, a section having a CCD camera, for detecting a current traveling-passage on which the vehicle is currently moving, a scanning-type radar unit for sensing obstacles within a predetermined area, and a danger level judging section for judging danger levels of the sensed obstacles, based on the deduced traveling-passage and the current traveling-passage. The danger level judging section sets the danger level of the obstacle sensed within an area, where the deduced traveling-passage and the current traveling-passage overlap with each other, to the highest danger level; the obstacle sensed in an area within the current traveling-passage and without the deduced traveling-passage, to an intermediate danger level; the obstacle sensed in an area within the deduced traveling-passage and without the current traveling-passage, to a lower danger level; and the obstacle sensed in an area without the current and deduced traveling-passages, to the lowest danger level.

Claims

1. A vehicle obstacle sensing apparatus comprising:

(a) deduced traveling-passage prediction means for predicting a deduced traveling-passage on which a vehicle will travel, based on a steering angle, a yaw rate and a velocity of the vehicle;

(b) current traveling-passage detection means for detecting a current traveling-passage on which the vehicle is currently moving;

(c) obstacle sensing means for sensing at least one obstacle within a predetermined area; and

(d) danger level judgment means for judging a danger level of an obstacle sensed by said obstacle sensing means, in accordance with an area within which said obstacle is sensed, and one of the deduced traveling-passage predicted by said deduced traveling-passage prediction means and the current traveling-passage detected by said current traveling-passage detection means.

2. The apparatus according to claim 1, further comprising steering angle detection means for detecting the steering angle of the vehicle.

3. The apparatus according to claim 1, further comprising yaw rate detection means for detecting the yaw rate of the vehicle.

4. The apparatus according to claim 1, further comprising velocity detection means for detecting the velocity of the vehicle.

5. The apparatus according to claim 1, wherein said deduced traveling-passage prediction means calculates a turning radius of a first deduced traveling-passage and a first lateral slip angle of the vehicle, based on the steering angle and the velocity of the vehicle.

6. The apparatus according to claim 5 wherein said deduced traveling-passage prediction means calculates a turning radius of a second deduced traveling-passage and a second lateral slip angle of the vehicle, based on the yaw rate and the velocity of the vehicle.

7. The apparatus according to claim 6, wherein said deduced traveling-passage prediction means predicts the first deduced traveling-passage, based on the steering angle and the velocity of the vehicle, predicts the second deduced traveling-passage, based on the yaw rate and the velocity of the vehicle, and selects one of the first and the second deduced traveling-passages.

8. The apparatus according to claim 7, wherein, if the steering angle is smaller than a predetermined value, said deduced traveling-passage prediction means selects the second deduced traveling-passage, and if the steering angle is greater than the predetermined value, said deduced traveling-passage prediction means selects one of the first and second deduced traveling-passages according to which of the first and the second deduced traveling-passages has a smaller turning radius.

9. The apparatus according to claim 1, wherein said current traveling-passage detection means is a CCD camera which identifies the current traveling-passage as an image.

10. The apparatus according to claim 1, wherein said obstacle sensing means is a scanning-type radar unit which calculates a distance between a sensed obstacle and the vehicle, a relative velocity between the sensed obstacle and the vehicle and a direction of the sensed obstacle with respect to the vehicle, as respective obstacle data.

11. The apparatus according to claim 1, further comprising automatic braking system control means for controlling a braking force upon each wheel.

12. The apparatus according to claim 10, further comprising an automatic braking system control means for controlling a braking force upon each wheel, wherein said automatic braking system control means judges a possibility of collision between a sensed obstacle and the vehicle based on the obstacle data, and controls the automatic braking system and an alarm, as danger avoiding operation.

13. The apparatus according to claim 1, wherein said danger level judgment means sets the danger level of an obstacle within an area in which the deduced traveling-passage and the current traveling-passage overlap with each other to a highest danger level, and sets the danger level of other obstacles, respectively, in an area within the current traveling-passage and without the deduced traveling-passage, in an area within the deduced traveling-passage and without the current traveling-passage, and in an area except the current and deduced traveling-passage, to lower danger levels in a descending order.

14. The apparatus according to claim 13, further comprising an automatic braking system control means for controlling a braking force upon each wheel, wherein said danger level judgment means outputs data related to the obstacle of highest danger level to said automatic braking system control means.

56. The apparatus according to claim 1, wherein said danger level judgment means judges said danger level of an obstacle sensed by said obstacle sensing means, in accordance with an area within which said obstacle is sensed, and one of the deduced traveling-passage predicted by said deduced traveling-passage prediction means, the current traveling-passage detected by said current traveling-passage detection means, and a common area of both the deduced traveling-passage and current traveling passage.

15. A vehicle obstacle sensing apparatus comprising:

(a) current traveling-passage detection means for detecting a current traveling-passage on which the vehicle is currently running;

(b) obstacle sensing means for sensing a plurality of obstacles within a predetermined area;

(c) road curvature change detection means for detecting, in advance, a curvature change of the current traveling-passage; and

(d) danger level judgment means for judging a danger level of an obstacle sensed by said obstacle sensing means, in accordance with the curvature change detected by said road curvature change detection means and an area where said obstacle is sensed within the current traveling-passage detected by said current traveling-passage detection means.

16. The apparatus according to claim 15, further comprising steering angle detection means for detecting a steering angle of the vehicle, yaw rate detection means for detecting a yaw rate of the vehicle, velocity detection means for detecting a velocity of the vehicle, and deduced traveling-passage prediction means for predicting a deduced traveling-passage on which the vehicle will travel, based on the detected steering angle, the yaw rate and the velocity.

17. The apparatus according to claim 16, wherein said deduced traveling-passage prediction means calculates a turning radius of a first deduced traveling-passage and a first lateral slip angle of the vehicle, based on the steering angle and the velocity of the vehicle.

18. The apparatus according to claim 17, wherein said deduced traveling-passage prediction means calculates a turning radius of a second deduced traveling-passage and a second lateral slip angle of the vehicle, based on the yaw rate and the velocity of the vehicle.

19. The apparatus according to claim 18, wherein said deduced traveling-passage prediction means predicts the first deduced traveling-passage, based on the steering angle and the velocity of the vehicle, predicts the second deduced traveling-passage, based on the yaw rate and the velocity of the vehicle, and selects one of the first and second deduced traveling-passages.

20. The apparatus according to claim 19, wherein, if the steering angle is smaller than a predetermined value, said deduced traveling-passage prediction means selects the second deduced traveling-passage, and if the steering angle is greater than the predetermined value, said deduced traveling-passage prediction means selects one of the first and second deduced traveling-passages according to which of the first and second deduced traveling-passages has a smaller turning radius.

21. The apparatus according to claim 15, wherein said current traveling-passage detection means is a CCD camera which identifies the current traveling-passage as an image.

22. The apparatus according to claim 15, wherein said obstacle sensing means is a scanning-type radar unit which calculates a distance between a sensed obstacle and the vehicle, a relative velocity between the sensed obstacle and the vehicle and a direction of the sensed obstacle with respect to the vehicle, as respective obstacle data.

23. The apparatus according to claim 15, further comprising automatic braking system control means for controlling a braking force upon each wheel.

24. The apparatus according to claim 22, further comprising automatic braking system control means for controlling a braking force upon each wheel, wherein said automatic braking system control means judges a possibility of collision between the sensed obstacle and the vehicle based on the obstacle data, and controls the automatic braking system and an alarm, as danger avoiding operation.

25. The apparatus according to claim 15, wherein said road curvature change detection means detects an object laid under the current traveling-passage, at a point a predetermined distance ahead of a portion where the curvature change starts.

26. The apparatus according to claim 15, wherein said danger level judgment means judges the danger level of a sensed obstacle, based on time elapsed from detecting the obstacle.

27. The apparatus according to claim 26, further comprising automatic braking system control means for controlling a braking force upon each wheel, wherein said danger level judgment means outputs data of an obstacle of highest danger level out of the danger levels of the obstacles to said automatic braking system control means.

28. A vehicle obstacle sensing apparatus comprising:

(a) deduced traveling-passage prediction means for predicting a deduced traveling-passage on which a vehicle will travel, based on a steering angle, a yaw rate and a velocity of the vehicle;

(b) current traveling-passage detection means for detecting a current traveling-passage on which the vehicle is currently running;

(c) obstacle sensing means for sensing at least one obstacle within a predetermined area;

(d) deduced traveling-passage correction means for defining an obstacle judgment area for judging a danger level of an obstacle based on the deduced traveling-passage predicted by said deduced traveling-passage prediction means and the current traveling-passage detected by said current traveling-passage detection means; and

(e) danger level judgment means for judging the danger level of an obstacle sensed by said obstacle sensing means, in accordance with an area where said obstacle is sensed within the obstacle judgment area defined by said deduced traveling-passage correction means.

29. The apparatus according to claim 28, further comprising steering angle detection means for detecting the steering angle of the vehicle.

30. The apparatus according to claim 28, further comprising yaw rate detection means for detecting the yaw rate of the vehicle.

31. The apparatus according to claim 28, further comprising velocity detection means for detecting the velocity of the vehicle.

32. The apparatus according to claim 28, wherein said deduced traveling-passage prediction means calculates a turning radius of a first deduced traveling-passage and a first lateral slip angle of the vehicle, based on the steering angle and the velocity of the vehicle.

33. The apparatus according to claim 32, wherein said deduced traveling-passage prediction means calculates a turning radius of a second deduced traveling-passage and a second lateral slip angle of the vehicle, based on the yaw rate and the velocity of the vehicle.

34. The apparatus according to claim 33, wherein said deduced traveling-passage prediction means predicts the first deduced traveling-passage, based on the steering angle and the velocity of the vehicle, predicts the second deduced traveling-passage, based on the yaw rate and the velocity of the vehicle, and selects one of the first and second deduced traveling-passages.

35. The apparatus according to claim 34, wherein, if the steering angle is smaller than a predetermined value, said deduced traveling-passage prediction means selects the second deduced traveling-passage, and if the steering angle is greater than the predetermined value, said deduced traveling-passage prediction means selects one of the first and second deduced traveling-passages according to which of the first and second deduced traveling-passages has a smaller turning radius.

36. The apparatus according to claim 28, wherein said current traveling-passage detection means is a CCD camera which identifies the current traveling-passage as an image.

37. The apparatus according to claim 28, wherein said obstacle sensing means is a scanning-type radar unit which calculates a distance between a sensed obstacle and the vehicle, a relative velocity between the sensed obstacle and the vehicle and a direction of the sensed obstacle with respect to the vehicle, as respective obstacle data.

38. The apparatus according to claim 28, further comprising automatic braking system control means for controlling a braking force upon each wheel.

39. The apparatus according to claim 37, further comprising an automatic braking system control means for controlling a braking force upon each wheel, wherein said automatic braking system control means judges a possibility of collision between a sensed obstacle and the vehicle based on the obstacle data, and controls the automatic braking system and an alarm, as danger avoiding operation.

40. The apparatus according to claim 28, wherein, if the deduced traveling-passage is outside of the current traveling-passage, said deduced traveling-passage correction means corrects the deduced traveling-passage so that the deduced traveling-passage coincides with the current traveling-passage, and sets the corrected deduced traveling-passage within the obstacle judgment area.

41. The apparatus according to claim 28, further comprising an automatic breaking system control means for controlling a braking force upon each wheel, wherein said danger level judgment means outputs data related to an obstacle of highest danger level to said automatic braking system control means.

42. A vehicle obstacle sensing apparatus comprising:

(a) deduced traveling-passage prediction means for predicting a deduced traveling-passage on which a vehicle will travel, based on a steering angle, a yaw rate and a velocity of the vehicle;

(b) current traveling-passage detection means for detecting a current traveling-passage on which the vehicle is currently running;

(c) obstacle sensing means for sensing at least one obstacle within a predetermined area;

(e) danger level judgment means for judging a danger level of an obstacle sensed by said obstacle sensing means, based on the prediction precision and the detection precision judged by said precision judgment means.

43. The apparatus according to claim 42, further comprising steering angle detection means for detecting the steering angle of the vehicle.

44. The apparatus according to claim 42, further comprising yaw rate detection means for detecting the yaw rate of the vehicle.

45. The apparatus according to claim 42, further comprising velocity detection means for detecting the velocity of the vehicle.

46. The apparatus according to claim 42, wherein said deduced traveling-passage prediction means calculates a turning radius of a first deduced traveling-passage and a first lateral slip angle of the vehicle, based on the steering angle and the velocity of the vehicle.

47. The apparatus according to claim 46, wherein said deduced traveling-passage prediction means calculates a turning radius of a second deduced traveling-passage and a second lateral slip angle of the vehicle, based on the yaw rate and the velocity of the vehicle.

48. The apparatus according to claim 47, wherein said deduced traveling-passage prediction means predicts a first deduced traveling-passage, based on the steering angle and the velocity of the vehicle, predicts a second deduced traveling-passage, based on the yaw rate and the velocity of the vehicle, and selects one of the first and the second deduced traveling-passages.

49. The apparatus according to claim 48, wherein if the steering angle is smaller than a predetermined value, said deduced traveling-passage prediction means selects the second deduced traveling-passage, and if the steering angle is greater than the predetermined value, said deduced traveling-passage prediction means selects one of the first and second deduced traveling-passages according to which of the first and second deduced traveling-passages has a smaller turning radius.

50. The apparatus according to claim 42, wherein said current traveling-passage detection means is a CCD camera which identifies the current traveling-passage as an image.

51. The apparatus according to claim 42, wherein said obstacle sensing means is a scanning-type radar unit which calculates a distance between an obstacle and the vehicle, a relative velocity between the obstacle and the vehicle and a direction of the obstacle with respect to the vehicle, as respective obstacle data.

52. The apparatus according to claim 42, further comprising automatic braking system control means for controlling a braking force upon each wheel.

53. The apparatus according to claim 51, further comprising an automatic braking system control means for controlling a braking force upon each wheel, wherein said automatic braking system control means judges a possibility of collision between an obstacle and the vehicle based on the obstacle data, and controls the automatic braking system and an alarm, as danger avoiding operation.

54. The apparatus according to claim 42, wherein, if any of the prediction precision and the detection precision is lower than a predetermined value, said precision judgment means set a danger level of an obstacle within any of the current traveling-passage and the deduced traveling-passage to a high danger level.

55. The apparatus according to claim 42, further comprising an automatic braking system control means for controlling a braking force upon each wheel, wherein said danger level judgment means outputs data related to an obstacle of highest danger level to said automatic braking system control means.